Department of Electrical and Electronics Engineering
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Item BSwarm robot — A low cost mobile wireless sensor research platform using COTS products(IEEE, 2015) Shenoy, Meetha V.MWSN is an emerging area of research and most of the work in the field of MWSN is done at the simulation level as there is hardly any cost effective hardware platform(node/mote) available for MWSN applications. To handle mobility, the MWSN node should be much more efficient than the nodes in static WSN. Moreover, a MWSN node should be capable of handling real time mobility control, path planning and navigation. The application domains of MWSN can be further expanded by incorporating swarm like intelligence in MWSN. We have developed a low cost, small form factor hardware platform which will function as a node in MWSN using custom off the shelf(COTS) products. Our mobile hardware platform, henceforth called as BSwarm robot supports self-assembly, to achieve complex tasks. The platform also support image assisted navigation and provides extensive I/O support for further feature expansion. The testbed consisting of multiple BSwarm robot can be utilized for the development and validation of algorithms/protocols related to MWSNs, distributed control of Swarm robots, real time image processing etc. BSwarm robot is a multi processor based robot designed in such a way that it can be used for applications which may demand varied degree of processing, communication and input-output capabilities. This paper also highlights major factors that can be taken into consideration while choosing the hardware platform for MWSNs so that the protocol stack development for MWSNs becomes easier.Item Swarm-Sync: A distributed global time synchronization framework for swarm robotic systems(Elsevier, 2018-02) Shenoy, Meetha V.Time synchronization is a crucial service task in a distributed network. Although several works are reported in routing and medium access control of mobile wireless sensor networks (MWSNs), or for navigation in a collaborative swarm of robots, prior time synchronization is stated as one of the prior requirement. In this paper, we study the problem of time synchronization over a wireless network for a swarm robotic system. We propose a fully decentralized, energy efficient framework for global synchronization of swarm of robots. The major contribution of this work is in terms of proposing a scalable, topology independent, mobility-assisted time synchronization framework with resynchronization interval in the order of several minutes (tested up to 10 min) which we believe will accelerate development of swarm robotic systems and mobile wireless sensor networks for several human-friendly real-world applications. The proposed framework which implements time synchronization in two phases, (1) One-way time offset compensation and (2) Relative skew fingerprinting based frequency offset compensation, is flexible and can be tuned easily to suit several application scenarios. Another unique characteristic of the framework is that it utilizes only one-way messages for the time offset and frequency offset compensation. We also demonstrate that the protocol scales very well for multi-hop scenarios and that bounded synchronization error across the network can be achieved using the framework. Analysis on the suitability of our framework for dynamic environments is also presented. We also present a fair comparative analysis of our work with the predictive protocols based on techniques such as Linear regression, Linear prediction and Kalman filter and consensus based synchronization proposed for static networks. The results and analysis presented here are derived from the analytical and empirical study on mobile nodes/robots spread over a duration of 5 months.